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修改温度模块的KGF通道以及取消打印

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liumin
2025-07-07 18:26:01 +08:00
parent 8c9396e1f5
commit f50f31e5bd
4 changed files with 1789 additions and 1790 deletions
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570
app/app_temp.c
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@@ -1,285 +1,285 @@
#include "app_config.h"
#include "interface.h"
#include "app_frm_monitor.h"
#include "app_frm_signal.h"
#include "app_frm_timer.h"
#include "app_param_manage.h"
#include "app_temp.h"
// 声明 temp_data 变量
TempSystem temp_data;
static void handleTemperatureAlarm(int16_t current_temp, float alarm_temp,
float critical_temp, float threshold_temp,
TempState *state)
{
switch (*state)
{
case TEMP_NORMAL:
// 从正常状态进入警告状态的条件
if (current_temp > (alarm_temp + threshold_temp))
{
*state = TEMP_WARNING;
printf("Temperature Warning: Activated! Current temp: %d°C\n", current_temp);
}
// 从正常状态直接进入严重状态的条件
else if (current_temp > (critical_temp + threshold_temp))
{
*state = TEMP_CRITICAL;
printf("Temperature Critical: Activated! Current temp: %d°C\n", current_temp);
}
else
{
*state = TEMP_NORMAL;
}
break;
case TEMP_WARNING:
// 从警告状态返回正常状态的条件
if (current_temp < (alarm_temp - threshold_temp))
{
*state = TEMP_NORMAL;
printf("Temperature Warning: Deactivated! Current temp: %d°C\n", current_temp);
}
// 从警告状态进入严重状态的条件
else if (current_temp > (critical_temp + threshold_temp))
{
*state = TEMP_CRITICAL;
printf("Temperature Critical: Activated! Current temp: %d°C\n", current_temp);
}
else
{
*state = TEMP_WARNING;
}
break;
case TEMP_CRITICAL:
// 从严重状态返回警告状态的条件
if (current_temp < (critical_temp - threshold_temp))
{
*state = TEMP_WARNING;
printf("Temperature Critical: Deactivated! Current temp: %d°C\n", current_temp);
}
// 从严重状态直接返回正常状态的条件
else if (current_temp < (alarm_temp - threshold_temp))
{
*state = TEMP_NORMAL;
printf("Temperature Warning: Deactivated! Current temp: %d°C\n", current_temp);
}
else
{
*state = TEMP_CRITICAL;
}
break;
default:
*state = TEMP_NORMAL;
break;
}
}
// 温度输出处理函数
static void tempOutput(void *signal_id)
{
(void)signal_id;
// 电机1风扇 左前
switch (temp_data.state[0])
{
case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF01 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_01 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
break;
}
// 电机2风扇 右前
switch (temp_data.state[1])
{
case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF02 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_02 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF02 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_02 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF02 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_02 = 0;
break;
}
// 电机3风扇 左后
switch (temp_data.state[2])
{
case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF07 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_07 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF07 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_07 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF07 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_07 = 0;
break;
}
// 电机4风扇 右后
switch (temp_data.state[3])
{
case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF08 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_08 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF08 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_08 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF08 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_08 = 0;
break;
}
// // 电机3风扇
// switch (temp_data.state[2])
// {
// case TEMP_NORMAL:
// un_inf_can_kgf_output1.bit_data.KGF01 = setFanOff();//电机控制器风扇
// un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
// break;
// case TEMP_WARNING:
// un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
// un_inf_can_kgf_output1.bit_data.pwm_01 = 5;
// break;
// case TEMP_CRITICAL:
// un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
// un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
// break;
// }
publishMessage(&un_inf_can_kgf_output1, 1);
}
// 温度状态处理函数
static void tempProcess(void *signal_id)
{
(void)signal_id;
int16_t max_temp[4] = {0,0};
max_temp[0] = temp_data.current_temp[0];
max_temp[1] = temp_data.current_temp[1];
// printf("motor1 temp: %d, motor2 temp: %d\n", max_temp[0], max_temp[1]);
handleTemperatureAlarm(max_temp[0], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[0]);
handleTemperatureAlarm(max_temp[1], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[1]);
handleTemperatureAlarm(max_temp[2], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[2]);
handleTemperatureAlarm(max_temp[3], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[3]);
// if (max_temp[0] >= 60) // 假设60度为危险温度
// {
// temp_data.state[0] = TEMP_CRITICAL;
// }
// else if (max_temp[0] >= 40) // 假设40度为警告温度
// {
// temp_data.state[0] = TEMP_WARNING;
// }
// else
// {
// temp_data.state[0] = TEMP_NORMAL;
// }
//
//
// max_temp[1] = temp_data.current_temp[1];
// if (max_temp[1] >= 60) // 假设60度为危险温度
// {
// temp_data.state[1] = TEMP_CRITICAL;
// }
// else if (max_temp[1] >= 40) // 假设40度为警告温度
// {
// temp_data.state[1] = TEMP_WARNING;
// }
// else
// {
// temp_data.state[1] = TEMP_NORMAL;
// }
//
//// printf("motor1 temp: %d, motor2 temp: %d\n", max_temp[0], max_temp[1]);
//// printf("motor1 state: %d, motor2 state: %d\n", temp_data.state[0], temp_data.state[1]);
tempOutput(NULL);
timerStart(&temp_data.timer, 1000, 1); //1s
}
// 处理输入信号的函数
static void tempInput(void *signal_id)
{
(void)signal_id;
// 填充数据
if (signal_id == &un_motor_temp1)
{
temp_data.current_temp[0] = ( (int16_t)(un_motor_temp1.bit_data.controller_temp) - 40);//40偏移量
}
else if(signal_id == &un_motor_temp2)
{
temp_data.current_temp[1] = ( (int16_t)(un_motor_temp2.bit_data.controller_temp) - 40);
}
else if(signal_id == &un_motor_temp3)
{
temp_data.current_temp[2] = ( (int16_t)(un_motor_temp3.bit_data.controller_temp) - 40);
}
else if(signal_id == &un_motor_temp4)
{
temp_data.current_temp[3] = ( (int16_t)(un_motor_temp4.bit_data.controller_temp) - 40);
}
else{}
}
// APP模块的初始化
void tempAppInit(void)
{
// 初始化
timerInit(&temp_data.timer);
memset(&temp_data, 0, sizeof(TempSystem));
temp_data.state[0] = TEMP_NORMAL;
temp_data.state[1] = TEMP_NORMAL;
temp_data.mode = TEMP_MODE_AUTO;
temp_data.target_temp = 25; // 默认目标温度25度
// 订阅输入信号,处理温度逻辑
subscribe(&un_motor_temp1, tempInput);
subscribe(&un_motor_temp2, tempInput);
subscribe(&un_motor_temp3, tempInput);
subscribe(&un_motor_temp4, tempInput);
// 启动定时器,每秒检查一次温度
subscribe(&temp_data.timer, tempProcess);
timerStart(&temp_data.timer, 1000, 1); //1s
printf("app_temp: initial OK \n");
}
#include "app_config.h"
#include "interface.h"
#include "app_frm_monitor.h"
#include "app_frm_signal.h"
#include "app_frm_timer.h"
#include "app_param_manage.h"
#include "app_temp.h"
// 声明 temp_data 变量
TempSystem temp_data;
static void handleTemperatureAlarm(int16_t current_temp, float alarm_temp,
float critical_temp, float threshold_temp,
TempState *state)
{
switch (*state)
{
case TEMP_NORMAL:
// 从正常状态进入警告状态的条件
if (current_temp > (alarm_temp + threshold_temp))
{
*state = TEMP_WARNING;
printf("Temperature Warning: Activated! Current temp: %d°C\n", current_temp);
}
// 从正常状态直接进入严重状态的条件
else if (current_temp > (critical_temp + threshold_temp))
{
*state = TEMP_CRITICAL;
printf("Temperature Critical: Activated! Current temp: %d°C\n", current_temp);
}
else
{
*state = TEMP_NORMAL;
}
break;
case TEMP_WARNING:
// 从警告状态返回正常状态的条件
if (current_temp < (alarm_temp - threshold_temp))
{
*state = TEMP_NORMAL;
printf("Temperature Warning: Deactivated! Current temp: %d°C\n", current_temp);
}
// 从警告状态进入严重状态的条件
else if (current_temp > (critical_temp + threshold_temp))
{
*state = TEMP_CRITICAL;
printf("Temperature Critical: Activated! Current temp: %d°C\n", current_temp);
}
else
{
*state = TEMP_WARNING;
}
break;
case TEMP_CRITICAL:
// 从严重状态返回警告状态的条件
if (current_temp < (critical_temp - threshold_temp))
{
*state = TEMP_WARNING;
printf("Temperature Critical: Deactivated! Current temp: %d°C\n", current_temp);
}
// 从严重状态直接返回正常状态的条件
else if (current_temp < (alarm_temp - threshold_temp))
{
*state = TEMP_NORMAL;
printf("Temperature Warning: Deactivated! Current temp: %d°C\n", current_temp);
}
else
{
*state = TEMP_CRITICAL;
}
break;
default:
*state = TEMP_NORMAL;
break;
}
}
// 温度输出处理函数
static void tempOutput(void *signal_id)
{
(void)signal_id;
// 电机1风扇 左前
switch (temp_data.state[0])
{
case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF01 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_01 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
break;
}
// 电机2风扇 右前
switch (temp_data.state[1])
{
case TEMP_NORMAL:
un_inf_can_kgf_output1.bit_data.KGF02 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_02 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output1.bit_data.KGF02 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_02 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output1.bit_data.KGF02 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output1.bit_data.pwm_02 = 0;
break;
}
// 电机3风扇 左后
switch (temp_data.state[2])
{
case TEMP_NORMAL:
un_inf_can_kgf_output2.bit_data.KGF07 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output2.bit_data.pwm_07 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output2.bit_data.KGF07 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output2.bit_data.pwm_07 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output2.bit_data.KGF07 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output2.bit_data.pwm_07 = 0;
break;
}
// 电机4风扇 右后
switch (temp_data.state[3])
{
case TEMP_NORMAL:
un_inf_can_kgf_output2.bit_data.KGF08 = setFanOff();//电机控制器风扇
un_inf_can_kgf_output2.bit_data.pwm_08 = 0;
break;
case TEMP_WARNING:
un_inf_can_kgf_output2.bit_data.KGF08 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output2.bit_data.pwm_08 = 5;
break;
case TEMP_CRITICAL:
un_inf_can_kgf_output2.bit_data.KGF08 = setFanOn();//电机控制器风扇
un_inf_can_kgf_output2.bit_data.pwm_08 = 0;
break;
}
// // 电机3风扇
// switch (temp_data.state[2])
// {
// case TEMP_NORMAL:
// un_inf_can_kgf_output1.bit_data.KGF01 = setFanOff();//电机控制器风扇
// un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
// break;
// case TEMP_WARNING:
// un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
// un_inf_can_kgf_output1.bit_data.pwm_01 = 5;
// break;
// case TEMP_CRITICAL:
// un_inf_can_kgf_output1.bit_data.KGF01 = setFanOn();//电机控制器风扇
// un_inf_can_kgf_output1.bit_data.pwm_01 = 0;
// break;
// }
publishMessage(&un_inf_can_kgf_output1, 1);
}
// 温度状态处理函数
static void tempProcess(void *signal_id)
{
(void)signal_id;
int16_t max_temp[4] = {0,0};
max_temp[0] = temp_data.current_temp[0];
max_temp[1] = temp_data.current_temp[1];
// printf("motor1 temp: %d, motor2 temp: %d\n", max_temp[0], max_temp[1]);
handleTemperatureAlarm(max_temp[0], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[0]);
handleTemperatureAlarm(max_temp[1], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[1]);
handleTemperatureAlarm(max_temp[2], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[2]);
handleTemperatureAlarm(max_temp[3], MOTOR_WARNING_TEMP, MOTOR_CRITICAL_TEMP, MOTOR_THRESHOLD_TEMP, &temp_data.state[3]);
// if (max_temp[0] >= 60) // 假设60度为危险温度
// {
// temp_data.state[0] = TEMP_CRITICAL;
// }
// else if (max_temp[0] >= 40) // 假设40度为警告温度
// {
// temp_data.state[0] = TEMP_WARNING;
// }
// else
// {
// temp_data.state[0] = TEMP_NORMAL;
// }
//
//
// max_temp[1] = temp_data.current_temp[1];
// if (max_temp[1] >= 60) // 假设60度为危险温度
// {
// temp_data.state[1] = TEMP_CRITICAL;
// }
// else if (max_temp[1] >= 40) // 假设40度为警告温度
// {
// temp_data.state[1] = TEMP_WARNING;
// }
// else
// {
// temp_data.state[1] = TEMP_NORMAL;
// }
//
//// printf("motor1 temp: %d, motor2 temp: %d\n", max_temp[0], max_temp[1]);
//// printf("motor1 state: %d, motor2 state: %d\n", temp_data.state[0], temp_data.state[1]);
tempOutput(NULL);
timerStart(&temp_data.timer, 1000, 1); //1s
}
// 处理输入信号的函数
static void tempInput(void *signal_id)
{
(void)signal_id;
// 填充数据
if (signal_id == &un_motor_temp1)
{
temp_data.current_temp[0] = ( (int16_t)(un_motor_temp1.bit_data.controller_temp) - 40);//40偏移量
}
else if(signal_id == &un_motor_temp2)
{
temp_data.current_temp[1] = ( (int16_t)(un_motor_temp2.bit_data.controller_temp) - 40);
}
else if(signal_id == &un_motor_temp3)
{
temp_data.current_temp[2] = ( (int16_t)(un_motor_temp3.bit_data.controller_temp) - 40);
}
else if(signal_id == &un_motor_temp4)
{
temp_data.current_temp[3] = ( (int16_t)(un_motor_temp4.bit_data.controller_temp) - 40);
}
else{}
}
// APP模块的初始化
void tempAppInit(void)
{
// 初始化
timerInit(&temp_data.timer);
memset(&temp_data, 0, sizeof(TempSystem));
temp_data.state[0] = TEMP_NORMAL;
temp_data.state[1] = TEMP_NORMAL;
temp_data.mode = TEMP_MODE_AUTO;
temp_data.target_temp = 25; // 默认目标温度25度
// 订阅输入信号,处理温度逻辑
subscribe(&un_motor_temp1, tempInput);
subscribe(&un_motor_temp2, tempInput);
subscribe(&un_motor_temp3, tempInput);
subscribe(&un_motor_temp4, tempInput);
// 启动定时器,每秒检查一次温度
subscribe(&temp_data.timer, tempProcess);
timerStart(&temp_data.timer, 1000, 1); //1s
printf("app_temp: initial OK \n");
}